Carbonix: move to include-based hwdef for CPNs

This commit leads to zero changes to the output of hwdef.h for both CarbonixF405 and CarbonixL496. SW-159
CarbonixUAV · May 21, 2024 · 9fd4f84 · 9fd4f84
1 parent 3f83f31
commit 9fd4f84
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Showing 6 changed files with 214 additions and 330 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn-bl.inc b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn-bl.inc
@@ -0,0 +1,66 @@
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 60
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# board ID for firmware load
+APJ_BOARD_ID 1064
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency set to 0 to use internal clock; currently configured for external crystal 12MHZ
+OSCILLATOR_HZ 12000000
+
+# assume 1024K flash part
+FLASH_SIZE_KB 1024
+
+STDOUT_SERIAL SD2
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART2
+
+# a fault LED
+PA15 LED_BOOTLOADER OUTPUT HIGH # blue
+define HAL_LED_ON 0
+
+# USART1
+PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART2 TRUE
+
+define HAL_NO_GPIO_IRQ
+
+define SERIAL_BUFFERS_SIZE 32
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# debugger support 
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn.inc b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn.inc
@@ -0,0 +1,113 @@
+
+# bootloader starts firmware at 60+ 4k
+FLASH_RESERVE_START_KB 64
+
+#MCU F405 store parameters in pages 2 and 3
+STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 15360
+
+# board ID for firmware load
+APJ_BOARD_ID 1064
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency set to 0 to use internal clock; currently configured for external crystal 12MHZ
+OSCILLATOR_HZ 12000000
+
+#MCU F405 Flash 1024
+FLASH_SIZE_KB 1024
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART2 USART3 UART4
+
+define HAL_CAN_POOL_SIZE 6000
+
+# PWM outputs
+PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
+PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
+
+# USART2, ESC telem
+PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+# USART3
+PC10 USART3_TX USART3 SPEED_HIGH NODMA
+PC11 USART3_RX USART3 SPEED_HIGH NODMA
+
+# UART4
+PA0 UART4_TX UART4 SPEED_HIGH NODMA
+PA1 UART4_RX UART4 SPEED_HIGH NODMA
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# LED, active low
+PA15 LED OUTPUT HIGH GPIO(1)
+
+# spi2
+PB10 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# CS pins
+PC8 BMI088_A_CS CS
+PC9 BMI088_G_CS CS
+
+SPIDEV bmi088_g SPI2 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a SPI2 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
+
+# one I2C bus
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+I2C_ORDER I2C1
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# debugger support 
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+
+define DMA_RESERVE_SIZE 2048
+
+# stack for fast interrupts
+define PORT_INT_REQUIRED_STACK 64
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0xA00
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# ADC inputs
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+PA5 VSENSE1 ADC1 SCALE(1)
+PA6 VSENSE2 ADC1 SCALE(1)
+PB0 VSENSE3 ADC1 SCALE(1)
+PB1 VSENSE4 ADC1 SCALE(1)
+
+define AP_STATS_ENABLED 1
+
+define HAL_NO_GCS
+define HAL_NO_MONITOR_THREAD
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# enable ESC control
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_SUPPORT_RCOUT_SERIAL 1
+define HAL_PERIPH_ARM_MONITORING_ENABLE 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat
@@ -3,72 +3,6 @@
 # MCU class and specific type
 MCU STM32F4xx STM32F405xx
 
-FLASH_RESERVE_START_KB 0
-FLASH_BOOTLOADER_LOAD_KB 60
-
-# reserve some space for params
-APP_START_OFFSET_KB 4
-
-# board ID for firmware load
-APJ_BOARD_ID 1064
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# crystal frequency set to 0 to use internal clock; currently configured for external crystal 12MHZ
-OSCILLATOR_HZ 12000000
-
-# assume 1024K flash part
-FLASH_SIZE_KB 1024
-
-STDOUT_SERIAL SD2
-STDOUT_BAUDRATE 57600
-
-# order of UARTs
-SERIAL_ORDER OTG1 USART2
-
-# a fault LED
-PA15 LED_BOOTLOADER OUTPUT HIGH # blue
-define HAL_LED_ON 0
-
-# USART1
-PA2 USART2_TX USART2 SPEED_HIGH NODMA
-PA3 USART2_RX USART2 SPEED_HIGH NODMA
-
-# USB
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-define HAL_USE_SERIAL TRUE
-
-define STM32_SERIAL_USE_USART2 TRUE
-
-define HAL_NO_GPIO_IRQ
-
-define SERIAL_BUFFERS_SIZE 32
-define HAL_USE_EMPTY_IO TRUE
-define PORT_INT_REQUIRED_STACK 64
-
-define DMA_RESERVE_SIZE 0
-
-MAIN_STACK 0x800
-PROCESS_STACK 0x800
-
-define HAL_DISABLE_LOOP_DELAY
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-
-# debugger support 
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-# make bl baudrate match debug baudrate for easier debugging
-define BOOTLOADER_BAUDRATE 57600
-
-# use a small bootloader timeout
-define HAL_BOOTLOADER_TIMEOUT 1000
-
+include ../CarbonixCommon/cpn-bl.inc
 
 define CAN_APP_NODE_NAME "org.ardupilot.CarbonixF405"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
@@ -3,121 +3,4 @@
 # MCU class and specific type
 MCU STM32F4xx STM32F405xx
 
-# bootloader starts firmware at 60+ 4k
-FLASH_RESERVE_START_KB 64
-
-#MCU F405 store parameters in pages 2 and 3
-STORAGE_FLASH_PAGE 2
-define HAL_STORAGE_SIZE 15360
-
-# board ID for firmware load
-APJ_BOARD_ID 1064
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# crystal frequency set to 0 to use internal clock; currently configured for external crystal 12MHZ
-OSCILLATOR_HZ 12000000
-
-#MCU F405 Flash 1024
-FLASH_SIZE_KB 1024
-
-# order of UARTs
-SERIAL_ORDER OTG1 USART2 USART3 UART4
-
-define HAL_CAN_POOL_SIZE 6000
-
-#STDOUT_SERIAL SD1
-#STDOUT_BAUDRATE 57600
-
-
-# PWM outputs
-PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
-PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
-
-# USART2, ESC telem
-PA2 USART2_TX USART2 SPEED_HIGH NODMA
-PA3 USART2_RX USART2 SPEED_HIGH NODMA
-
-# USART3
-PC10 USART3_TX USART3 SPEED_HIGH NODMA
-PC11 USART3_RX USART3 SPEED_HIGH NODMA
-
-# UART4
-PA0 UART4_TX UART4 SPEED_HIGH NODMA
-PA1 UART4_RX UART4 SPEED_HIGH NODMA
-
-# USB
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-# LED, active low
-PA15 LED OUTPUT HIGH GPIO(1)
-
-# spi2
-PB10 SPI2_SCK SPI2
-PB14 SPI2_MISO SPI2
-PB15 SPI2_MOSI SPI2
-
-# CS pins
-PC8 BMI088_A_CS CS
-PC9 BMI088_G_CS CS
-
-SPIDEV bmi088_g SPI2 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a SPI2 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
-
-# one I2C bus
-PB6 I2C1_SCL I2C1
-PB7 I2C1_SDA I2C1
-
-I2C_ORDER I2C1
-
-# allow for reboot command for faster development
-define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
-
-# debugger support 
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-define HAL_NO_GPIO_IRQ
-define SERIAL_BUFFERS_SIZE 512
-
-define DMA_RESERVE_SIZE 2048
-
-# stack for fast interrupts
-define PORT_INT_REQUIRED_STACK 64
-
-# MAIN_STACK is stack for ISR handlers
-MAIN_STACK 0x300
-
-# PROCESS_STACK controls stack for main thread
-PROCESS_STACK 0xA00
-
-define HAL_DISABLE_LOOP_DELAY
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-
-# ADC inputs
-define HAL_USE_ADC TRUE
-define STM32_ADC_USE_ADC1 TRUE
-
-PA5 VSENSE1 ADC1 SCALE(1)
-PA6 VSENSE2 ADC1 SCALE(1)
-PB0 VSENSE3 ADC1 SCALE(1)
-PB1 VSENSE4 ADC1 SCALE(1)
-
-define AP_STATS_ENABLED 1
-
-define HAL_NO_GCS
-define HAL_NO_MONITOR_THREAD
-
-define AP_PARAM_MAX_EMBEDDED_PARAM 512
-
-define HAL_PERIPH_ENABLE_RC_OUT
-
-# enable ESC control
-define HAL_SUPPORT_RCOUT_SERIAL 1
-
-define HAL_PERIPH_ARM_MONITORING_ENABLE 1
+include ../CarbonixCommon/cpn.inc